3,962 research outputs found
Real-Time Dense Stereo Matching With ELAS on FPGA Accelerated Embedded Devices
For many applications in low-power real-time robotics, stereo cameras are the
sensors of choice for depth perception as they are typically cheaper and more
versatile than their active counterparts. Their biggest drawback, however, is
that they do not directly sense depth maps; instead, these must be estimated
through data-intensive processes. Therefore, appropriate algorithm selection
plays an important role in achieving the desired performance characteristics.
Motivated by applications in space and mobile robotics, we implement and
evaluate a FPGA-accelerated adaptation of the ELAS algorithm. Despite offering
one of the best trade-offs between efficiency and accuracy, ELAS has only been
shown to run at 1.5-3 fps on a high-end CPU. Our system preserves all
intriguing properties of the original algorithm, such as the slanted plane
priors, but can achieve a frame rate of 47fps whilst consuming under 4W of
power. Unlike previous FPGA based designs, we take advantage of both components
on the CPU/FPGA System-on-Chip to showcase the strategy necessary to accelerate
more complex and computationally diverse algorithms for such low power,
real-time systems.Comment: 8 pages, 7 figures, 2 table
FPGA-based module for SURF extraction
We present a complete hardware and software solution of an FPGA-based computer vision embedded module capable of carrying out SURF image features extraction algorithm. Aside from image analysis, the module embeds a Linux distribution that allows to run programs specifically tailored for particular applications. The module is based on a Virtex-5 FXT FPGA which features powerful configurable logic and an embedded PowerPC processor. We describe the module hardware as well as the custom FPGA image processing cores that implement the algorithm's most computationally expensive process, the interest point detection. The module's overall performance is evaluated and compared to CPU and GPU based solutions. Results show that the embedded module achieves comparable disctinctiveness to the SURF software implementation running in a standard CPU while being faster and consuming significantly less power and space. Thus, it allows to use the SURF algorithm in applications with power and spatial constraints, such as autonomous navigation of small mobile robots
A Survey of Techniques For Improving Energy Efficiency in Embedded Computing Systems
Recent technological advances have greatly improved the performance and
features of embedded systems. With the number of just mobile devices now
reaching nearly equal to the population of earth, embedded systems have truly
become ubiquitous. These trends, however, have also made the task of managing
their power consumption extremely challenging. In recent years, several
techniques have been proposed to address this issue. In this paper, we survey
the techniques for managing power consumption of embedded systems. We discuss
the need of power management and provide a classification of the techniques on
several important parameters to highlight their similarities and differences.
This paper is intended to help the researchers and application-developers in
gaining insights into the working of power management techniques and designing
even more efficient high-performance embedded systems of tomorrow
LEAP Scratchpads: Automatic Memory and Cache Management for Reconfigurable Logic [Extended Version]
CORRECTION: The authors for entry [4] in the references should have been "E. S. Chung,
J. C. Hoe, and K. Mai".Developers accelerating applications on FPGAs or other reconfigurable logic have nothing but raw memory devices in their standard toolkits. Each project typically includes tedious development of single-use memory management. Software developers expect a programming environment to include automatic memory management. Virtual memory provides the illusion of very large arrays and processor caches reduce access latency without explicit programmer instructions. LEAP scratchpads for reconfigurable logic dynamically allocate and manage multiple, independent, memory arrays in a large backing store. Scratchpad accesses are cached automatically in multiple levels, ranging from shared on-board, RAM-based, set-associative caches to private caches stored in FPGA RAM blocks. In the LEAP framework, scratchpads share the same interface as on-die RAM blocks and are plug-in replacements. Additional libraries support heap management within a storage set. Like software developers, accelerator authors using scratchpads may focus more on core algorithms and less on memory management. Two uses of FPGA scratchpads are analyzed: buffer management in an H.264 decoder and memory management within a processor microarchitecture timing model
FPGA-Based Processor Acceleration for Image Processing Applications
FPGA-based embedded image processing systems offer considerable computing resources but present programming challenges when compared to software systems. The paper describes an approach based on an FPGA-based soft processor called Image Processing Processor (IPPro) which can operate up to 337 MHz on a high-end Xilinx FPGA family and gives details of the dataflow-based programming environment. The approach is demonstrated for a k-means clustering operation and a traffic sign recognition application, both of which have been prototyped on an Avnet Zedboard that has Xilinx Zynq-7000 system-on-chip (SoC). A number of parallel dataflow mapping options were explored giving a speed-up of 8 times for the k-means clustering using 16 IPPro cores, and a speed-up of 9.6 times for the morphology filter operation of the traffic sign recognition using 16 IPPro cores compared to their equivalent ARM-based software implementations. We show that for k-means clustering, the 16 IPPro cores implementation is 57, 28 and 1.7 times more power efficient (fps/W) than ARM Cortex-A7 CPU, nVIDIA GeForce GTX980 GPU and ARM Mali-T628 embedded GPU respectively
Direct -body code on low-power embedded ARM GPUs
This work arises on the environment of the ExaNeSt project aiming at design
and development of an exascale ready supercomputer with low energy consumption
profile but able to support the most demanding scientific and technical
applications. The ExaNeSt compute unit consists of densely-packed low-power
64-bit ARM processors, embedded within Xilinx FPGA SoCs. SoC boards are
heterogeneous architecture where computing power is supplied both by CPUs and
GPUs, and are emerging as a possible low-power and low-cost alternative to
clusters based on traditional CPUs. A state-of-the-art direct -body code
suitable for astrophysical simulations has been re-engineered in order to
exploit SoC heterogeneous platforms based on ARM CPUs and embedded GPUs.
Performance tests show that embedded GPUs can be effectively used to accelerate
real-life scientific calculations, and that are promising also because of their
energy efficiency, which is a crucial design in future exascale platforms.Comment: 16 pages, 7 figures, 1 table, accepted for publication in the
Computing Conference 2019 proceeding
Image Processing Using FPGAs
This book presents a selection of papers representing current research on using field programmable gate arrays (FPGAs) for realising image processing algorithms. These papers are reprints of papers selected for a Special Issue of the Journal of Imaging on image processing using FPGAs. A diverse range of topics is covered, including parallel soft processors, memory management, image filters, segmentation, clustering, image analysis, and image compression. Applications include traffic sign recognition for autonomous driving, cell detection for histopathology, and video compression. Collectively, they represent the current state-of-the-art on image processing using FPGAs
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